Depth and Error Maps.    We presents more qualitative results of depth maps and error maps on the ScanNet test set [1]} in Fig. REF . The samples shown here are scene0711_00/001050.png, scene0711_00/002530.png, scene0727_00/001260.png, and scene0769_00/000720.png. The error maps contain the absolute errors abs in depth. For the ground truth depth maps and the error maps, invalid regions (i.e., without ground truth depth annotation) are filled in black. The color maps of the ground truth depths and predictions are shown in the depth space (i.e., not in disparity space). The abs errors (in meter) are superimposed on the error maps for better comparison. The corresponding color bar to visualize the error maps is shown in Fig. REF . Comparing the depth predictions and the error maps for our method and the baseline IterMVS [2]} and baseline PairNet [3]}, our method predicts more accurate estimates, especially in the challenging regions, e.g., the boundary, the ground, the white wall, and the round desk.
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